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In the previous research authors developed tunable method for PID controllers to achieve the desired phase margin. Crossover frequency is used as a parameter that allows correcting time response of closed-loop system. The aim of the research is to find proportional, integral, derivative and filter coefficients of PID controller that will provide desired characteristics (phase margin and crossover frequency) in the system. The analytical approach of proposed PID tuning method is presented. Thedoi:10.3303/CET1652024 doaj:642534221ea142e3b73ff1a1dbf309e3 fatcat:umcewkh2grhfhie75fpk5dwfue